Staged Training Report ✓ Complete

Run ID: shoulder_session_multiheight_large_decoder
Generated: 2026-02-23 04:03:46
Stages Completed: 1
Total Elapsed Time: 06:09:43

Configuration

Config Defaults Changed Since Last Commit

ParameterPreviousCurrent
batch_size 1 8
plateau_sweep.plateau_ema_alpha 0.9 0.85
plateau_sweep.plateau_improvement_threshold 0.0005 0.0015
All Configuration Parameters (60 parameters)
ParameterValue
total_samples10000000
batch_size8
stage_samples_multiplier100000000000
update_interval250
window_size100
num_best_models_to_keep1
sampling_modeLoss-weighted
loss_weight_temperature0.5
loss_weight_refresh_interval50
stop_on_divergenceTrue
divergence_gap0.002
divergence_ratio1.5
divergence_patience50
divergence_min_updates10
val_spike_threshold2.0
val_spike_window15
val_spike_frequency0.75
val_plateau_patience250
val_plateau_min_delta0.0001
custom_lr0.0001
disable_lr_scalingTrue
custom_warmup-1
lr_min_ratio0.001
resume_warmup_ratio0.05
plateau_factor0.8
plateau_patience15
preserve_optimizerFalse
preserve_schedulerTrue
samples_modeTrain additional samples
num_random_obs_to_visualize2
selected_frame_offset3
runs_per_stage5
serial_runsTrue
clean_old_checkpointsTrue
enable_baselineFalse
baseline_runs_per_stage1
run_idshoulder_session_multiheight_large_decoder
enable_wandbTrue
wandb_projectdevelopmental-robot-movement
lr_sweep.lr_min1e-07
lr_sweep.lr_max0.01
lr_sweep.phase_a_num_candidates5
lr_sweep.phase_a_seeds1
lr_sweep.phase_a_time_budget_min3.0
lr_sweep.phase_a_survivor_count2
lr_sweep.phase_b_seeds3
lr_sweep.phase_b_time_budget_min10.0
lr_sweep.ranking_metricmedian_best_val
lr_sweep.min_samples_before_timeout1000
lr_sweep.min_evals_before_stop5
lr_sweep.save_sweep_stateTrue
plateau_sweep.enabledTrue
plateau_sweep.plateau_ema_alpha0.85
plateau_sweep.plateau_improvement_threshold0.0015
plateau_sweep.plateau_patience25
plateau_sweep.cooldown_updates5
plateau_sweep.max_sweeps_per_stage2
plateau_sweep.min_sweep_improvement0.0
initial_sweep_enabledTrue
stage_time_budget_min180

Timing Summary

Stage Plateau Sweeps Sweep Time Training Time Stage Total
Stage 1 5 01:18:45 00:12:38 01:31:24
TOTAL 5 01:18:45 00:12:38 01:31:24

Initial LR Sweep: Stage 1: selected LR 3.16e-05 in 00:15:08

Plateau Sweep Details

Total Sweeps: 5
Stages with Sweeps: 1 of 1
Total Sweep Time: 01:18:45
Average Sweep Duration: 00:15:45

Stage 1: 5 sweeps

LR Progression: 3.2e-05 → 3.2e-05 → 3.2e-05 → 3.2e-05 → 1.8e-06 → 1.8e-06

Sweep # Triggered At (samples) Wall Time Selected LR Duration
1 16,896 00:02:48 3.16e-05 00:14:07
2 26,112 00:18:26 3.16e-05 00:16:14
3 33,280 00:35:52 3.16e-05 00:16:02
4 55,040 00:55:27 1.78e-06 00:16:09
5 67,584 01:13:41 1.78e-06 00:16:12

Stage Results

Stage Best Loss Stop Reason Samples Trained Time Sweeps LR (Initial→Final)
Stage 1 0.041913 max_sweeps (2) 8,960 01:31:24 5 3.2e-05→1.8e-06

Total Plateau Sweeps: 5

Stop Reason Breakdown

Loss Across Full Training Run

Loss Detail (Post Initial Drop)

Multi-Run Statistics

Total Runs: 5
Average Best Loss: 0.068729 ± 0.031378
Best Overall: 0.041913
Worst Overall: 0.114280

Stage 1 (5 runs)

Run Best Loss Stop Reason Samples Time Selected
1 0.043195 max_sweeps (2) 6,912 01:25:33
2 0.041913 max_sweeps (2) 8,960 01:31:24
3 0.045168 max_sweeps (2) 6,656 01:41:30
4 0.099091 max_sweeps (2) 12,544 00:37:22
5 0.114280 max_sweeps (2) 9,984 00:36:14
Mean: 0.068729 ± 0.031378 Min: 0.041913 / Max: 0.114280 Range: 0.072367

Best Checkpoint

Name: best_model_auto_session_so101_multiheight_part1_1345_shoulder_session_multiheight_large_decoder_00070144_cont_val_0.041913.pth
Stage: 1
Hybrid Loss (full session): 0.051272

Learning Rate Timeline with Plateau Sweeps

Stage Progression

Stage Orig Loss Train Loss Time Samples Stop Reason
1 ⭐ 0.051272 0.041913 01:31:24 8960 max_sweeps (2)

Hybrid Loss Over Original Session (per Stage)

Stage 1 (Best) - Hybrid Loss: 0.051272

Sample Counts

Cumulative Across All Stages

Per Stage

Stage 1 (Best) - Total Samples: 8,960

Best Checkpoint Inference

Selected Frame 3

Action 0

Action 1

Action 2

Random Observations

Observation 925

Action 0
Action 1
Action 2

Observation 164

Action 0
Action 1
Action 2